WO2003084235A1 - Pretraitement video - Google Patents

Pretraitement video Download PDF

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Publication number
WO2003084235A1
WO2003084235A1 PCT/GB2003/001323 GB0301323W WO03084235A1 WO 2003084235 A1 WO2003084235 A1 WO 2003084235A1 GB 0301323 W GB0301323 W GB 0301323W WO 03084235 A1 WO03084235 A1 WO 03084235A1
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WO
WIPO (PCT)
Prior art keywords
frame
pixels
pixel
background
frames
Prior art date
Application number
PCT/GB2003/001323
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English (en)
Inventor
Othon Kamariotis
Original Assignee
British Telecommunications Public Limited Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB0230332A external-priority patent/GB0230332D0/en
Application filed by British Telecommunications Public Limited Company filed Critical British Telecommunications Public Limited Company
Publication of WO2003084235A1 publication Critical patent/WO2003084235A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
    • H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
    • H04N19/507—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction using conditional replenishment
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/20—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video object coding
    • H04N19/23—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video object coding with coding of regions that are present throughout a whole video segment, e.g. sprites, background or mosaic
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

Definitions

  • the present invention relates to a method and apparatus for pre-processing video frames, and in particular to a method and apparatus for processing a sequence of video frames to form a single background frame which can be used with each of a plurality foreground object frames (extracted from the original sequence of complete video frames) to recreate each of the original complete video frames respectively.
  • a video sequence comprises a sequential series of complete video frames intended to be displayed successively at a predetermined rate.
  • Each frame comprises a matrix of pixels, each of which has, in the case of black and white video sequences, an associated value indicating the brightness of the pixel, or, in the case of colour video sequences, a triplet of values which together indicate both the brightness and the colour of each pixel.
  • MPEG-4 is a standard for transmitting such a video sequence from a transmitting unit to a receiving unit over a packet-switched data network, especially when employing the Internet Protocol.
  • the MPEG-4 standard is distinguished from earlier versions of the standard in that it permits a video "object" to be transmitted separately from a background against which the object moves (in the foreground). Where the background is static (ie is substantially the same in all of the frames in a particular sequence), the amount of bandwidth required to transmit the sequence can be reduced by transmitting the background information only once for the complete sequence of frames in which the background is static and transmitting only the object information for each frame on a frame-by-frame basis.
  • the amount of bandwidth can still be reduced by transmitting the complete background information only once for the complete sequence of frames wherein different frames show different parts of the complete background.
  • the background information need not be transmitted at all and the receiving unit generates (or selects) an arbitrary (or pre-stored) background for combination with the foreground objects prior to displaying a set of complete video frames.
  • the background information is separately available to the transmitting unit and the transmitting unit does not need to perform any pre-processing on the original video sequence to be transmitted in order to extract the background information.
  • Pixel based routine are distinguished by the independence of all the pixels.
  • Non-pixel based techniques employ a global updating control derived from some measurable image attribute.
  • the present inventor has realized that there are some important cases where some information about the object moving in the foreground is already available to the transmitting unit, (for example in the form of a binary mask specifying, in respect of each frame in the sequence, which pixels are background pixels and which are object pixels in that particular frame), and that methods such as those described above are inefficient ways to produce a single background frame in such cases.
  • a method of detecting camera panning occurring from one video frame to another comprising the steps of comparing an input pair of pre-processing complete video frames with an input corresponding pair of comparison frames each of which indicates which of the pixels, in the corresponding input pre-processing complete video frame, represent object pixels, to thereby determine which of the pixels in each of the complete video frames represent background pixels and performing motion estimation in respect of the background pixels only, ignoring the object pixels.
  • a method of generating a single background frame for combining with a series of object frames to create a series of post-processing complete video frames each of which consists of the respective object frame superimposed onto the single background frame or a part of the single background frame comprising comparing an input series of pre-processing complete video frames with an input corresponding series of comparison frames each of which indicates which of the pixels, in the corresponding input pre-processing complete video frame, represent object pixels, to thereby derive said single background video frame.
  • Each of the comparison frames may comprise a binary mask having a number of pixels each of which corresponds to a respective one of the pixels in each input preprocessing complete video frame and each of which is allocated a first or a second value (eg a zero or a one) in dependence upon whether or not the corresponding pixel in the corresponding input pre-processing complete video frame is a foreground object pixel or a background pixel.
  • the pixels may be grouped into blocks of pixels, and each block may be assigned a first or second value in dependence upon whether or not the corresponding block of pixels includes one or more object pixels or not.
  • Each block may comprise two hundred and fifty six pixels arranged in a sixteen by sixteen square arrangement, which blocks are hereinafter referred to as macroblocks.
  • the comparison step may comprise the sub-steps of: identifying a first pair of one of the input series of pre-processing complete video frames and the corresponding comparison frame; generating a reference background video frame by providing a plurality of pixels each of which corresponds to a respective one of the pixels in each of the input pre-processing complete video frames, setting each pixel corresponding to a pixel not indicated by the comparison frame of the first pair as being an object pixel to the value (for black-and-white) or triplet of values (for colour) associated with the corresponding pixel in the input pre-processing complete video frame of the first pair, and marking each such pixel as set, whilst leaving each pixel corresponding to a pixel which is indicated by the comparison frame of the first pair as being an object pixel to the default value or triplet of values and marking such pixels as unset; identifying a next pair of a complete pre-processing video frame and its corresponding comparison frame to form a current pair; identifying unset pixels in the reference background video frame which correspond to pixels indicated by the
  • apparatus for generating a single background frame for combining with a series of object frames to create a series of post-processing complete video frames each of which consists of the respective object frame superimposed onto the single background frame, the apparatus comprising means for comparing an input series of pre-processing complete video frames with an input corresponding series of comparison frames each of which indicates which of the pixels, in the corresponding input pre-processing complete video frame, represent object pixels, to thereby derive said single background video frame.
  • Figure 1 is a block diagram of a system incorporating an embodiment of the present invention
  • Figure 2 is a flow chart illustrating the steps performed in accordance with a method according to the present invention
  • Figure 3 is a flow chart illustrating the steps performed in accordance with a subroutine forming one of the steps illustrated in Figure 2;
  • Figure 4 is a schematic diagram illustrating the effects of the steps illustrated in Figure 3;
  • Figure 5 is a schematic diagram showing two of the video frames and two of the mask frames illustrated in Figure 4 in more detail.
  • Figure 1 is a schematic illustration of a system comprising a mobile device 10 connected via an air interface 1 5 to a base station 20 and thence, via a computer network 30,40 to the Internet 50.
  • the mobile device 10 which includes a screen 10, keypad 1 2 and aerial 13, is operable to receive and display in real time a video originating from a computer (not shown) connected to the Internet 50, such as, for example, a video telephone call or a live streamed video broadcast.
  • the video broadcast which originates from the Internet 50, is routed firstly to a video pre-processing server computer 40 which is connected to the Internet 50 via a Local Area Network (LAN) 30.
  • the video pre-processing server computer 40 pre-processes the video broadcast to be transmitted to the mobile device 10 to account for the fact that the air interface 1 5 over which the video broadcast must travel to reach the mobile device 10 has only a limited amount of bandwidth (eg for a GPRS over GSM connection an average bandwidth of approximately 20kbps would be typical, whilst an average bandwidth of approximately 10kbps would be typical for a normal GSM connection (without GPRS)).
  • the video broadcast is transmitted over the Internet 50 and across the air interface 1 5 using the MPEG-4 standard (see ISO/IEC 14496-2:2001 (E), 1 rue de Varembe, 1 21 1 Geneva 20 Switzerland, tel. + 41 22 749 01 1 1 , fax + 41 22 734 1079, internet: iso@iso.ch. http://www.m4if.org/).
  • the MPEG-4 standard permits background frames to be transmitted separately from foreground frames.
  • the video pre-processing server computer 40 in the present embodiment is used in cases where the background in the video broadcast is substantially static.
  • the server computer 40 extracts a single background frame 60 (see Figure 4) which, together with a foreground frame in respect of each video frame contained in the original video broadcast, can be used to reconstruct, to a certain extent at least, the original video broadcast. This reconstruction is done in the present embodiment by the mobile device 10 which includes a video decoder compliant with the MPEG-4 standard.
  • the present inventor has realised that in cases where the background is substantially static, very little notice is taken of the background by a user who is viewing a video transmission and thus there is very little perception of a lack of quality of the video transmission in cases where the background is kept exactly static because only a single background frame is employed.
  • the server computer 40 of the present embodiment is also employed in cases where a mask frame is available in respect of each frame of the original video broadcast.
  • the mask frames may be generated automatically from the original video frames using an alternative program running in the server computer 40.
  • An example of a method which could be employed by the server computer 40 to generate the mask frames in this way is described in the present Applicant's co-pending European patent application No (IPD ref A30150).
  • Alternative algorithms could however be employed, or the mask frames may have been received by the server computer together with the complete video frames as part of the received video broadcast.
  • the video pre-processing server computer 40 requires a sequence of complete video frames together with a corresponding sequence of respective mask frames. Such a sequence can be derived from the video broadcast by dividing the video broadcast up into a series of sequences each corresponding to a period of video transmission in the order of a few seconds in duration.
  • step S5 the sequence of complete video frame and corresponding mask frames are received by the server computer 40.
  • Step S10 is a subroutine, the steps of which are described below with reference to Figure 3, which processes the complete video frames and corresponding mask frames received in step S5 to produce a single background frame.
  • step S15 Upon completion of subroutine S10, flow passes to step S15 in which the single background frame extracted in subroutine S10 is transmitted from the server computer 40 to the mobile device 10. This transmission is done in the present embodiment via the LAN 30, base station 20 and air interface 1 5.
  • step S20 Upon completion of step S1 5, flow passes to step S20 in which a sequence of foreground video frames are transmitted from the server computer 40 to the mobile device 10 (also via the LAN 30, base station 20 and air interface 1 5).
  • step S20 By transmitting only information about the pixels representing the foreground object, considerable bandwidth is spared. The extra bandwidth generated in this way can then be used to enhance the quality of the video information transmitted in respect of the foreground object thus improving the perceived quality of the received video transmission at the mobile device as a whole.
  • FIG 4 schematically illustrates the overall operation of the subroutine.
  • a sequence of complete video frames V1 to Vn are compared with a corresponding sequence of mask frames M1 to Mn according to an automatic background extraction process 55 (which is the subroutine S10 whose steps are illustrated in Figure 3) to from a single background frame 60.
  • each mask frame M1 to Mn includes an opaque part 51 and a transparent part 52.
  • each frame comprises MxN pixels arranged in M columns 1 ,2, 3,...,M and N rows 1 ,2,3,...,N.
  • Each frame can therefore be represented as a two dimensional array comprising MxN members.
  • each member of the array comprises a multi-value number or triplet of multi-value numbers indicating the brightness or brightness, chroma and hue (or equivalent values such as red, green and blue values).
  • each member of the array is a binary number which can take either 0 to represent transparent pixels or 1 to represent opaque pixels. Where a pixel takes the value associated with transparency, it indicates that the corresponding pixel in the corresponding complete video frame is a pixel associated with the background. Similarly, where a pixel in a mask frame takes the value 1 corresponding to an opaque pixel, it indicates that the corresponding pixel in the corresponding complete video frame is a pixel associated with the foreground "object" (see the MPEG-4 standard).
  • step S100 a reference background frame is set by masking the first complete video frame V1 with the first mask frame M1 .
  • This essentially involves not setting any of the pixels in the reference background frame which correspond to opaque pixels in the mask frame M1 , whilst setting all of the pixels in the reference background frame which correspond to transparent pixels in the mask frame M1 to the same values as the corresponding pixels in the first complete video frame V1 .
  • step S100 Upon completion of step S100, flow passes to step S1 10 in which a reference mask frame which is exactly identical to the first mask frame M1 is created.
  • step S1 10 Upon completion of step S1 10, flow passes to step S120 in which the next video frame and mask frame are selected to form a current pair.
  • step S120 On the first occurrence of this step (ie when step S1 20 has been reached directly from step S1 10 rather than step S1 70 for which see below) the next video frame is video frame V2 and the next mask frame is M2 and these are selected as the current pair.
  • step S1 22 Upon completion of step S120, flow passes to step S1 22 in which an attempt is made to detect a scene change. This is done in the present embodiment by taking the Sum of Absolute Difference (SAD) between the new pair and the reference pair, disregarding any pixels which correspond to either object pixels in the current pair or not yet filled in pixels in the reference background frame. This therefore contains only background pixels common to both pairs (current and reference). If this is zero or very close to zero (ie below some predefined low threshold), it is assumed that there is no scene change and flow proceeds to step S130. Otherwise, flow passes to step S124.
  • SAD Sum of Absolute Difference
  • step S1 24 an attempt is made to detect panning. This is done by attempting to determine if the background is largely unchanged except for having been translated by a certain amount.
  • a well known technique used in standards such as MPEG-4 and H263 and referred to as motion estimation is employed.
  • the motion estimation is carried out in the following manner: i) select sample box - first an attempt is made to find a square area of pixels which contains (set values of) background pixels in both the reference background frame and the current video frame and which has a border which contains set background pixel values in the reference background frame.
  • the next step is to move the entire reference frame by the corresponding selected amounts and perform a SAD on all (set values of) background pixels in both the reference background frame and the current video frame (ignoring pixels where there is now no overlap between the reference and the current frames). If any of these result in a SAD below a minimum threshold value, then a match is considered to have been made such that it is determined that panning has been detected and the translation corresponding to the lowest calculated SAD is selected as the result of the panning and flow passes to step S 1 26, other wise flow passes to step S 1 28.
  • step S1 26 in the present embodiment, the reference background frame is firstly output as a background frame for all of the frames processed up to this point, and a new reference frame for the post panning video frames is generated by moving the old reference frame in the selected direction (by the selected amount) and "filling as many gaps" as is possible from the background pixels in the current video frame.
  • flow passes back to step S1 20.
  • step S128 it is assumed that there has been a change of scene such that the old reference background frame will not be valid for video frames post the scene change. Therefore, the reference background frame is firstly output as a background frame for all of the frames processed up to this point (ie before the change of scene). Then we designate the current pair of video frame and mask frame (post the change of scene, as the new first video and mask frames and re-start the process by passing flow back to step S100.
  • step S1 30 the mask frame in the current pair is compared with the reference mask frame to seek to detect any pixels which are transparent in the current mask frame (ie with value 0 in the present embodiment indicating that the corresponding pixel in the current video frame represents a background pixel) but which are set as opaque (ie with a value of 1 in the present embodiment) in the reference mask frame.
  • step S 140 it is determined whether any pixels were detected which are transparent in the current mask frame but opaque in the reference mask frame. Such pixels represent newly uncovered background pixels which were previously obscured by the foreground object image, and which have therefore not yet been set to their appropriate background values in the reference background frame. If any such pixels are detected, flow passes to step S1 50.
  • step S1 50 the pixels in the reference background frame which correspond to the newly uncovered pixels detected in step S130 are set to the values of the corresponding pixels in the current video frame.
  • step S1 50 Upon completion of step S1 50, flow passes to step S1 60 in which the pixels in the reference mask frame which correspond to the newly uncovered pixels identified in step S130 are set to the transparent value, to indicate that the corresponding pixels in the reference background frame have now been set and do not therefore need to be set again.
  • step S170 Upon completion of step S1 60, flow passes to step S170. Additionally, if it is determined in step S140 that no newly uncovered pixels were detected in step S130, then flow passes directly from step S140 to step S170 missing out steps S1 50 and S1 60.
  • step S170 it is determined whether there are both more video frames remaining in the sequence which could be processed to attempt to uncover more background pixels and one or more pixels in the reference mask frame which have not yet been set to transparent, indicating that there are more background pixels to uncover.
  • step S120 Provided that both of these conditions are met, flow returns to step S120 and a new pair of video frame and mask frame are selected for comparison in step s130, etc.
  • step S180 in which the reference background frame is set as the single background frame 60 which is the final output from the subroutine S10 as a whole.
  • step S180 the subroutine S10 comes to an end and flow passes to step S1 5.
  • the embodiment has been described with special reference to the MPEG-4 standard, the present invention is, of course, suited for use with any video transmission standard which permits video information about foreground objects to be transmitted separately from video information about the background of a particular sequence of video frames.
  • the present invention is of course applicable to any arrangement in which a transmitting unit transmits a sequence of video frames to a receiving unit using a transmission standard which permits video information about foreground objects to be transmitted separately from video information about the background of a particular sequence of video frames.
  • the background frame could be extended and additional information transmitted to indicate which part of the larger background frame should be used for each of the transmitted video frames.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Compression Or Coding Systems Of Tv Signals (AREA)

Abstract

Selon cette invention, une séquence de trames vidéo (V1) à (Vn) complète est comparée à une séquence correspondante de trames de masques (M1) à (Mn) conformément à un procédé (55) d'extraction d'arrière-plan automatique fin de constituer une seule trame (60) d'arrière-plan. Chaque trame de masques (M1) à (Mn) comprend une partie opaque (51) et une partie transparente (52). Chaque trame comprend MxN pixels disposés en M colonnes (1, 2, 3, , M) et N rangées (1, 2, 3, , N). Lorsqu'un pixel prend la valeur associée à la transparence, cela signifie que le pixel correspondant dans la trame vidéo complète correspondante est un pixel d'arrière-plan visible. De même, lorsqu'un pixel dans une trame de masques prend la valeur associée à un pixel opaque, cela signifie que le pixel correspondant dans la trame vidéo complète correspondante est un pixel associé à 'l'objet' de premier plan. L'ensemble des trames de masques (M1) à (Mn) sont considérés successivement pour identifier tous les pixels d'arrière-plan visibles dans au moins une trame vidéo complète de la séquence. Dès qu'un pixel d'arrière-plan est visible pour la première fois, la valeur du pixel d'arrière-plan (par exemple la luminosité, la couleur, etc.) à ce moment donné est stockée dans une trame d'arrière-plan de référence jusqu'à ce que tous les pixels possibles dans la trame d'arrière-plan de référence aient été fixés aux valeurs correspondantes des pixels d'arrière-plan dans les trames vidéo complètes, après quoi la trame d'arrière-plan de référence est produite comme unique trame d'arrière-plan (60).
PCT/GB2003/001323 2002-03-28 2003-03-27 Pretraitement video WO2003084235A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP02252314 2002-03-28
EP02252314.6 2002-03-28
GB0230332.9 2002-12-31
GB0230332A GB0230332D0 (en) 2002-12-31 2002-12-31 Video pre-processing

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WO2009031751A1 (fr) * 2007-09-05 2009-03-12 Electronics And Telecommunications Research Institute Appareil d'extraction d'un objet vidéo et son procédé
US9374596B2 (en) 2008-09-11 2016-06-21 Google Inc. System and method for video encoding using constructed reference frame
EP2327212A2 (fr) * 2008-09-11 2011-06-01 Google Inc. Système et procédé d'encodage vidéo utilisant une image de référence construite
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US9154799B2 (en) 2011-04-07 2015-10-06 Google Inc. Encoding and decoding motion via image segmentation
US9392280B1 (en) 2011-04-07 2016-07-12 Google Inc. Apparatus and method for using an alternate reference frame to decode a video frame
US9426459B2 (en) 2012-04-23 2016-08-23 Google Inc. Managing multi-reference picture buffers and identifiers to facilitate video data coding
US9609341B1 (en) 2012-04-23 2017-03-28 Google Inc. Video data encoding and decoding using reference picture lists
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